PyPose v0.6: The Imperative Programming Interface for Robotics

TL;DR

PyPose v0.6 is an open-source robot learning library with an imperative API that simplifies complex tasks, enabling end-to-end learning and real robot navigation with minimal code.

Contribution

This paper introduces the fundamental design of PyPose's imperative API, enhancing usability and demonstrating its application in real robot navigation tasks.

Findings

Easy real quadruped robot navigation with few lines of code

Flexible usage of diverse functionalities demonstrated

Significant platform enhancements since 2022

Abstract

PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed application programming interface (API) and efficient implementation. From its initial launch in early 2022, PyPose has experienced significant enhancements, incorporating a wide variety of new features into its platform. To satisfy the growing demand for understanding and utilizing the library and reduce the learning curve of new users, we present the fundamental design principle of the imperative programming interface, and showcase the flexible usage of diverse functionalities and modules using an extremely simple Dubins car example. We also demonstrate that the PyPose can be easily used to navigate a real quadruped robot with a few lines of code.